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Zero moment point (ZMP) is widely used in dynamical walking control of the biped robot, but it is hard to obtain the ZMP exactly. The paper describes a simple walking control method without using ZMP information directly. Firstly, the paper introduced a biped robot lower-limb prototype which is driven by linear hydraulic servocylinder. Then the paper simplifies the walking control in the lateral plane with a simple walking pattern generation method named "dynamic equilibrium method," which is fit for active and underactuated biped robots. In the following section the paper provides the balance control methods without using ZMP information directly. Finally, simulation experiments with MD. DAMS and experiments in physical prototype are given. The experimental results confirm the effectiveness of the proposed control methods.

Realization of a Biped Robot Lower Limb Walking without Double Support Phase on Uneven Terrain